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The Baltimore Ravens have hired Gary Kubiak as their offensive coordinator, head coach John Harbaugh announced Monday afternoon.

Coach Harbaugh also announced that former Houston Texans offensive coordinator Rick Dennison will join the Ravens as their quarterbacks coach.

Dennison, 55, is a 20-year NFL coaching veteran who served the past four seasons (2010-13) on Gary Kubiak’s staff as the Texans’ offensive coordinator. Prior to joining Houston in 2010, Dennison spent his entire NFL career with the Denver Broncos – as a player from 1982-90 and as a coach from 1995-2009.

Dennison helped create a prolific offense with the Texans, which during his four-season tenure, ranked eighth in total net yards (369.5 ypg), sixth in rushing (130.6 ypg) and 13th in passing (239.0 ypg). Houston produced an NFL-best 29 individual 100-yard rushing performances, ranked fifth in the NFL with 64 rushing touchdowns and registered three of the best rushing seasons in franchise history during Dennison’s tenure.

In 2012, the Texans’ offense set a franchise record by scoring 26.0 points per game and ranked seventh in the NFL in total net yards (372.1 ypg). Seven offensive players earned Pro Bowl honors, including WR Andre Johnson, who led the AFC with 1,598 receiving yards. RB Arian Foster led the NFL in touchdowns (17) for the second time in three seasons and ranked second in the AFC with 1,424 rushing yards. For the third time in his career, and second under Dennison, QB Matt Schaub eclipsed the 4,000-yard passing mark.

In 2011, Dennison’s offense set franchise marks with 2,448 rushing yards (153.0 ypg), ranking second in the NFL. The Texans also led the NFL in time of possession (32:41) and set a franchise mark for fewest interceptions thrown in a season (nine). Late in the season, rookie QB T.J. Yates was called upon to lead the unit, which suffered season-ending losses to Schaub and QB Matt Leinart. Two different Texans rushed for more than 900 yards for the first time in club history (Foster – 1,224 and Ben Tate – 942).

In his first year with Houston in 2010, the Texans’ offense ranked third in total yards (386.6 ypg) and seventh in rushing (127.6), including a league-high 20 rushing touchdowns. Houston also had the NFL’s fourth-ranked passing attack (259.0 ypg). The total yards and rushing yards were franchise marks, as were points scored (390). Foster became the Texans’ first NFL rushing and scoring leader with a club record 1,616 rushing yards and 18 touchdowns.

Dennison’s first stint as an NFL offensive coordinator came with the Denver Broncos (2006-08) after his predecessor, Kubiak, left for the head-coaching job with the Texans. His offenses averaged 350.5 net yards per game and rushed for 124.4 yards per contest and 4.6 yards per carry. In 2008, Denver was second in the NFL with 6,333 total yards and allowed a franchise-record-low 12 sacks.

Dennison coached the Broncos’ offensive line from 2001-05 and again in 2009. He led Denver’s special teams unit from 1997-2000 and helped the Broncos to back-to-back Super Bowl titles in 1997-98. Dennison began his NFL coaching career as an offensive assistant with the Broncos from 1995-96. He broke into coaching at the high school level, spending three seasons (1992-94) with Suffield (Conn.) Academy.

From 1982-90, Dennison played linebacker for the Broncos, appearing in 128 games (52 starts) and three Super Bowls (XXI in 1986, XXII in 1987 and XXIV in 1989). He received the Ed Block Courage Award in 1989.

Dennison joined the Broncos in 1982 as an undrafted free agent from Colorado State, where he earned three varsity letters and was a second-team Academic All-American as a senior. In 1979, he earned a bachelor’s degree in civil engineering, followed by a master’s degree in the same field in 1982 from CSU.

Born June 22, 1958 in Kalispell, Mont., Dennison attended Rocky Mountain (Fort Collins, CO) HS, where he lettered in football, basketball and baseball. His father, George, was president of the University of Montana before retiring in July 2010. Rick and his wife, Shannon, have five children: sons Joseph, Steven, and Trey, and twin daughters, Abrynn and Allie.

Lombardi’s Way - A column from the 24×7 founder that focuses on the Ravens, the NFL, Baltimore, the world of sports or life’s inspirations.

Word on The Street - In the spirit of the CBS Sports Minute with Boomer Esiason, RSR brings you Word on The Street, a 90 second (or less) podcast on topics exclusively relating to the Baltimore Ravens.

Ravens Links - We’ll give you the best stories about the Ravens from around the web three times per week.

Fanimal Crackers - If you are an animal about the Baltimore Ravens, then you are a Fanimal! Follow the Russell Street Report blog Fanimal Crackers!

The Edgar Awards - The Edgar Awards will range from the Maryland county that is home to the best Ravens fans to the best Ravens podcast; from the best collection of displaced fans to the best local craft brews that should be part of your next tailgating party.

The Road to RSR - Our writers explains their journeys as fans and how they came to write for our little corner of sports media.